CN107696817B - Driving device for unmanned carrier and unmanned carrier with driving device - Google Patents
Driving device for unmanned carrier and unmanned carrier with driving device Download PDFInfo
- Publication number
- CN107696817B CN107696817B CN201710466181.0A CN201710466181A CN107696817B CN 107696817 B CN107696817 B CN 107696817B CN 201710466181 A CN201710466181 A CN 201710466181A CN 107696817 B CN107696817 B CN 107696817B
- Authority
- CN
- China
- Prior art keywords
- driving
- bracket
- motor
- connecting rod
- chute
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000006835 compression Effects 0.000 claims description 13
- 238000007906 compression Methods 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/12—Wound spring
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a driving device for an unmanned carrier, which comprises: a driving unit having a running wheel and a driving shaft driving the running wheel to move; a base to which the driving unit is provided; and the pre-pressing unit is abutted against the driving unit to apply pre-pressing force to the driving shaft, and the pre-pressing unit synchronously moves up and down along with the running wheel, so that the driving shaft always applies constant downward pressure to the running wheel. According to the driving device for the unmanned carrier, the pre-pressing unit is abutted against the driving unit to apply pre-pressing force to the driving shaft, and the pre-pressing unit moves up and down synchronously along with the driving wheel, so that the driving shaft applies constant downward pressure to the driving wheel, and the unmanned carrier is ensured to stably run.
Description
Technical Field
The present invention relates to a driving device for an unmanned carrier and an unmanned carrier having the same.
Background
In the related art, the unmanned carrier presses down the running wheels through the pre-pressing unit, so that the running wheels and the ground always keep certain friction force, and the running wheels can be driven to walk, but the flatness of the ground is inconsistent in the carrying process, the pre-pressing force of the springs is in linear relation with the ground, and when the ground is concave downwards, the springs are stretched, and the pre-pressing force is reduced; when the ground is raised, the springs compress and the pre-pressure increases. Therefore, if the ground flatness is not high, the phenomenon of derailment, spin or skid of the unmanned carrier may occur due to the change of the pre-pressure of the spring, so that the unmanned carrier cannot normally and stably run.
Disclosure of Invention
The present invention aims to solve at least to some extent one of the above technical problems.
For this purpose, the invention proposes a drive device for an unmanned truck, which can make the drive shaft exert a constant downward pressure on the running wheels.
The invention further provides the unmanned carrier with the driving arrangement, and the unmanned carrier is stable in operation.
The driving device for the unmanned carrier according to the embodiment of the invention comprises: a driving unit having a running wheel and a driving shaft driving the running wheel to move; a base to which the driving unit is provided; and the pre-pressing unit is abutted against the driving unit to apply pre-pressing force to the driving shaft, and the pre-pressing unit synchronously moves up and down along with the running wheel, so that the driving shaft always applies constant downward pressure to the running wheel.
According to the driving device for the unmanned carrier, the pre-pressing unit is abutted against the driving unit to apply pre-pressing force to the driving shaft, and the pre-pressing unit moves up and down synchronously along with the driving wheel, so that the driving shaft applies constant downward pressure to the driving wheel, and the unmanned carrier is ensured to stably run.
In addition, the driving device for the unmanned carrier according to the embodiment of the invention can also have the following additional technical characteristics:
according to one embodiment of the invention, the driving unit comprises: the motor seat is arranged on the base and is provided with a through hole; the driving motor is connected to the motor base, and a driving shaft of the driving motor penetrates through the through hole and is in transmission connection with the running wheels.
According to an embodiment of the invention, the driving device further comprises: the top plate is suspended above the motor base, and the pre-pressing unit is arranged in a space defined by the top plate and the motor base.
According to one embodiment of the invention, the top plate is positioned on the motor base through a plurality of support columns, and the motor base is provided with mounting holes for positioning the support columns.
According to one embodiment of the invention, the pre-compression unit comprises: the bracket is stopped against the upper surface of the motor seat; and the spring is sleeved on the outer peripheral wall of the bracket in a compressed state so as to apply pre-compression to the upper surface of the motor base.
According to one embodiment of the invention, the pre-compression unit comprises: an upper bracket having a downwardly extending positioning post and a first positioning flange extending in a circumferential direction; a lower bracket having an upwardly extending locating hole and a second locating flange extending in a circumferential direction; the spring is sleeved on the peripheral wall of the lower bracket, and the positioning column stretches into the positioning hole and compresses the spring through the first positioning flange and the second positioning flange to form precompression.
According to one embodiment of the invention, the bottom of the top plate is provided with a side plate, the side plate is provided with an upper chute, the upper bracket is provided with a first lug, and the first lug is connected with the upper chute through a pin shaft.
According to one embodiment of the invention, the end part of the lower bracket is provided with a sliding block, and the upper surface of the motor base is provided with a lower sliding groove matched with the sliding block.
According to one embodiment of the invention, the lower chute is substantially co-linear with the mounting hole.
According to one embodiment of the present invention, one of the upper chute and the lower chute extends obliquely upward, and the other of the upper chute and the lower chute extends horizontally.
According to one embodiment of the invention, the pre-compression unit further comprises: the lower support is provided with a second lug, one end of the connecting rod is connected with the second lug through a pin shaft, and the other end of the connecting rod is connected with the support column.
According to one embodiment of the invention, the connecting rod comprises: the lower end of the lower section connecting rod is connected with the second lug, and the lower section connecting rod extends upwards along the horizontal direction; the upper section connecting rod is connected with the upper end of the lower section connecting rod, and extends upwards along the vertical direction.
According to one embodiment of the invention, the pre-compression unit further comprises: the mounting bracket, the mounting bracket cover is located the support column, the mounting bracket has the open slot, the upper segment connecting rod is pressed from both sides through the round pin axle and is located in the open slot.
According to one embodiment of the invention, the number of the pre-pressing units is two, the two pre-pressing units are diagonally arranged in the space defined by the top plate and the motor base, and the movement directions of the two pre-pressing units are opposite.
The automated guided vehicle according to the second aspect of the present invention includes the driving device of the above embodiment, and since the driving device of the above embodiment can cause the driving shaft to apply a constant downward pressure to the running wheel, the automated guided vehicle according to the embodiment of the present invention operates stably.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
fig. 1 is a perspective view of a driving apparatus according to an embodiment of the present invention;
FIG. 2 is another angular perspective view of a drive device according to one embodiment of the invention;
fig. 3 is a front view of a driving apparatus according to an embodiment of the present invention;
fig. 4 is an exploded view of a driving device according to an embodiment of the present invention.
Reference numerals:
a driving device 100;
a drive unit 10; a travel wheel 11; a motor base 12; a through hole 121; a mounting hole 122; a lower chute 123; a drive motor 13; a drive shaft 131;
a base 20;
a pre-pressing unit 30; an upper bracket 31; positioning columns 311; a first positioning flange 312; a first ledge 313; a lower bracket 32; a positioning hole 321; a second locating flange 322; a slider 323; a second lug 324; a spring 33; a connecting rod 34; a mounting frame 35;
a top plate 40; a side plate 41; an upper chute 411;
a support column 50;
pin 60.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
The unmanned carrier presses down the running wheels through the pre-pressing unit, so that the running wheels and the ground always keep a certain friction force, and the running wheels can be driven to walk, but the flatness of the ground is inconsistent in the carrying process, wherein the pre-pressure of the springs and the ground are in a linear relation, and when the ground is concave downwards, the springs are stretched, and the pre-pressure is reduced; when the ground is raised, the springs compress and the pre-pressure increases. Therefore, if the ground flatness is not high, the phenomenon of derailment, idle running or slipping and the like of the unmanned carrier possibly occur due to the change of the pre-pressure of the spring, so that the unmanned carrier cannot normally and stably run.
A driving apparatus 100 for an automated guided vehicle according to an embodiment of the present invention will be described below with reference to fig. 1 to 4. The unmanned carrier may have a plurality of sets of driving devices 100 distributed in the left-right direction.
As shown in fig. 1-3 in combination with fig. 4, the driving apparatus 100 may generally include: a driving unit 10, a base 20 and a pre-pressing unit 30.
Specifically, as shown in fig. 1 to 3, the driving unit 10 has a running wheel 11 and a driving shaft 131 that drives the running wheel 11 to move. Unmanned vehicles generally include: chassis (not shown), drive device 100, jacking device (not shown) and control system (not shown), wherein, drive device 100, jacking device and control system all establish to the chassis, and the bottom of chassis can be equipped with a plurality of supporting wheels and a plurality of running wheels 11, and wherein, the motion of running wheels 11 drives the removal of whole automobile body. To ensure stable operation of the vehicle body, it is necessary to maintain sufficient pre-compression of the road wheels 11 with the ground.
Referring to fig. 1 to 3, the driving unit 10 is provided to the base 20, and the pre-pressing unit 30 is stopped against the driving unit 10 to apply pre-pressing force to the driving shaft 131, and the pre-pressing unit is synchronously displaced up and down along with the driving wheel 11, so that the driving shaft 131 always applies constant downward pressure to the driving wheel 11. That is, when the running wheel 11 fluctuates up and down with the ground, the pre-pressing unit 30 also fluctuates up and down, that is, the pre-pressing unit 30 and the running wheel 11 form a moving whole, so that the pre-pressing force of the pre-pressing unit 30 acting on the driving unit 10 does not change with the ground.
Thus, according to the driving apparatus 100 for the automated guided vehicle of the embodiment of the present invention, the pre-pressing unit 30 is stopped against the driving unit 10 to apply the pre-pressing force to the driving shaft 131, and the pre-pressing unit 30 is synchronously displaced up and down along with the driving wheel 11, so that the driving shaft 131 applies a constant downward force to the driving wheel 11, thereby ensuring the stable driving of the automated guided vehicle.
In some embodiments of the present invention, the driving unit 10 may include: motor mount 12 and drive unit 10. The motor housing 12 is provided to the base 20, and the motor housing 12 is formed with a through hole 121. The driving motor 13 is connected to the motor base 12, and a driving shaft 131 of the driving motor 13 penetrates through the through hole 121 and is in transmission connection with the running wheel 11. As shown in fig. 4 in combination with fig. 1 and 2, the driving shaft 131 extends from one side of the motor base 12 to the other side and is connected with the motor connection hole of the running wheel 11, so that the driving motor 13 can drive the running wheel 11 to rotate to drive the vehicle body to move.
In some embodiments, the driving apparatus 100 further comprises: a top plate 40. The top plate 40 is suspended above the motor base 12, and the pre-pressing unit 30 is disposed in a space defined by the top plate 40 and the motor base 12. As shown in fig. 1 and 2, the motor housing 12 is stacked on the upper surface of the base 20, and the top plate 40 is spaced a predetermined distance from the upper surface of the motor housing 12, thereby defining a space for mounting the pre-compression unit 30 between the top plate 40 and the motor housing 12.
In an alternative embodiment, top plate 40 is positioned over motor mount 12 by a plurality of support posts 50, and motor mount 12 is provided with mounting holes 122 for mounting support posts 50. Wherein one end (lower end in fig. 1 and 2) of the support column 50 is connected to the motor base 12, and the other end (upper end in fig. 1 and 2) of the support column 50 extends upward for supporting the top plate 40. As shown in fig. 4, the motor base 12 is a generally square body, and a mounting hole 122 for positioning the support column 50 is provided at the connection between the short side and the long side of the upper surface thereof.
In other embodiments of the present invention, the pre-pressing unit 30 may include: a bracket and a spring 33. The bracket is stopped against the upper surface of the motor base 12. The spring 33 is fitted around the outer peripheral wall of the bracket in a compressed state to apply a pre-compression force to the upper surface of the motor housing 12. The motor mount 12 transmits the pre-pressure to the driving shaft 131, and applies downward pressure to the running wheel 11 through the driving shaft 131, so that the running wheel 11 has a constant friction with the ground.
Specifically, the stent may include: upper bracket 31 and lower bracket 32, upper bracket 31 has an upwardly extending locating post 311 and a first locating flange 312 extending in the circumferential direction. The lower bracket 32 has an upwardly extending positioning hole 321 and a second positioning flange 322 extending in the circumferential direction. The spring 33 is sleeved on the peripheral wall of the lower bracket 32, and the positioning post 311 extends into the positioning hole 321 and compresses the spring 33 through the first positioning flange 312 and the second positioning flange 322 to form pre-compression. In other words, the first positioning flange 312 defines the degree of freedom of upward movement of the spring 33, and the second positioning flange 322 defines the degree of freedom of downward movement of the spring 33, the amount of compression of the spring 33 determining the amount of pre-compression applied to the drive shaft 131.
In an alternative embodiment, the bottom of the top plate 40 is provided with a side plate 41, the side plate 41 has an upper chute 411, the upper bracket 31 has a first lug 313, and the first lug 313 is connected to the upper chute 411 through a pin 60. That is, the pin 60 can slide along the upper chute 411 under the action of external force to move the upper end of the bracket.
In a further alternative embodiment, the end of the lower bracket 32 is provided with a slide 323, and the upper surface of the motor base 12 is provided with a lower chute 123 matched with the slide 323. As shown in fig. 1 and fig. 2 in combination with fig. 4, a lower chute 123 is provided in the front-rear direction of the motor base 12, a slider 323 is clamped in the lower chute 123, and under the action of external force, the slider 323 can slide along the lower chute 123 to drive the lower end of the bracket to move, i.e. the upper end of the bracket is movably connected to the top plate, and the lower end of the bracket is movably connected to the motor base 12.
In some specific examples, one of the upper slide slot 411 and the lower slide slot 123 extends obliquely upward, and the other of the upper slide slot 411 and the lower slide slot 123 extends horizontally. As shown in fig. 1 and 2 in combination with fig. 4, the upper chute 411 extends obliquely upward, and the lower chute 123 extends in the horizontal direction. For example, in the case of an upward protrusion on the ground, the motor base 12 is lifted up by the driving shaft 131, so that the slider 323 is forced to slide along the lower chute 123 in the horizontal direction, and at this time, the first lug 313 slides up along the upper chute 411 under the guidance of the pin shaft; the motor base 12 is lowered under the condition of the downward depression of the ground, so that the slider 323 is forced to reversely slide along the horizontal direction of the lower chute 123, and at this time, the first lug 313 slides down along the upper chute 411 under the guidance of the pin shaft. By the cooperation of the pre-pressing unit 30 with the upper chute 411 and the lower chute 123, the compression amount of the spring 33 of the pre-pressing unit 30 can be kept constant, that is, the pre-pressing force provided to the driving shaft 131 can be kept constant, and it is further ensured that the driving shaft 131 applies a constant downward pressure to the running wheel 11.
In still other embodiments of the present invention, the pre-pressing unit 30 may further include: a connecting rod 34. The lower bracket 32 has a second lug 324, one end of the link 34 is connected to the second lug 324 by a pin, and the other end of the link 34 is connected to the support column 50. Thus, during the downward or upward movement of the motor mount 12, the second lug 324 may be pulled or pushed by the link 34 such that the second lug 324 may move in the horizontal direction along the lower chute 123.
Further alternatively, the lower chute 123 is substantially co-linear with the mounting hole 122. In other words, the slider 323 is positioned substantially in the same horizontal direction as the link 34, so that the second lug 324 can be pulled or pushed by the link 34 to move in the horizontal direction, so that the pre-pressing unit 30 moves up and down in synchronization with the motor housing 12.
In some embodiments, as shown in fig. 1 and 2 in combination with fig. 4, the link 34 may include: a lower connecting rod and an upper connecting rod. The lower end of the lower link is connected to the second lug 324, and the lower link extends upward in the horizontal direction. The upper connecting rod is connected with the upper end of the lower connecting rod, and extends upwards along the vertical direction.
In a further alternative embodiment, the pre-pressing unit 30 further comprises: and a mounting frame 35. The mounting bracket 35 is sleeved on the support column 50, the mounting bracket 35 is provided with an open slot, and the upper section connecting rod is clamped in the open slot through a pin shaft. As shown in fig. 1 and 2, the open slot is opened toward one side of the spring 33, the upper end of the link 34 is connected to the mounting bracket 35 by a pin, and the lower end of the link 34 is connected to the second lug 324 by a pin. That is, the two ends of the connecting rod 34 are rotatable relative to the two pins, so when the motor base 12 moves up and down, the connecting rod 34 can drive the sliding block 323 to slide along the horizontal direction of the lower chute 123 through the second lug 324, and further drive the first lug 313 to slide up and down along the upper chute 411 through the pins, so that the pre-pressing unit 30 and the motor base 12 can move up and down synchronously.
As shown in fig. 1, the number of the pre-pressing units 30 is two, and the two pre-pressing units 30 are diagonally arranged in the space defined by the top plate 40 and the motor base 12. The bottom of the top plate 40 is provided with two side plates 41, each side plate is provided with an upper sliding groove 411, wherein one upper sliding groove 411 extends obliquely upwards and backwards along the horizontal direction, and the other upper sliding groove 411 extends obliquely upwards and forwards along the horizontal direction, so that the sliding blocks 323 of the two pre-pressing units 30 move in the opposite directions under the condition of uneven ground, the weight of the whole driving device 100 can be uniformly distributed at any time, and the stability of the unmanned carrier is improved.
The automated guided vehicle according to the embodiment of the present invention includes the driving apparatus of the above embodiment, and since the driving apparatus 100 of the above embodiment can cause the driving shaft 131 to apply a constant downward pressure to the running wheel 11, the automated guided vehicle according to the embodiment of the present invention operates stably.
Other components and operations of the automated guided vehicle are understood and readily available to those of ordinary skill in the art and will not be described in detail herein.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "bottom", "inner", "outer", "front", "rear", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives, and variations may be made in the above embodiments by those skilled in the art without departing from the spirit and principles of the invention.
Claims (12)
1. A drive apparatus for an unmanned carrier, comprising:
a driving unit having a running wheel and a driving shaft driving the running wheel to move;
a base to which the driving unit is provided;
the pre-pressing unit is abutted against the driving unit to apply pre-pressing force to the driving shaft, and the pre-pressing unit synchronously moves up and down along with the driving wheel, so that the driving shaft always applies constant downward pressure to the driving wheel;
the drive unit includes:
the motor seat is arranged on the base and is provided with a through hole;
the driving motor is connected to the motor base, and a driving shaft of the driving motor penetrates through the through hole and is in transmission connection with the running wheel;
the top plate is suspended above the motor seat; the pre-pressing unit is arranged in a space defined by the top plate and the motor base;
the pre-pressing unit includes:
the bracket is stopped against the upper surface of the motor seat;
the spring is sleeved on the outer peripheral wall of the bracket in a compressed state so as to apply pre-compression to the upper surface of the motor base;
the upper end of the bracket is movably connected with the top plate, and the lower end of the bracket is movably connected with the motor seat;
the driving shaft always applies constant downward pressure to the running wheel through the sliding of the bracket.
2. The driving device for an automated guided vehicle according to claim 1, wherein the top plate is positioned at the motor mount via a plurality of support posts, and the motor mount is provided with mounting holes for mounting the support posts.
3. The drive device for an automated guided vehicle according to claim 2, wherein the stand comprises:
an upper bracket having a downwardly extending positioning post and a first positioning flange extending in a circumferential direction;
a lower bracket having an upwardly extending locating hole and a second locating flange extending in a circumferential direction;
the spring is sleeved on the peripheral wall of the lower bracket, and the positioning column stretches into the positioning hole and compresses the spring through the first positioning flange and the second positioning flange to form precompression.
4. A driving device for an unmanned carrier according to claim 3, wherein the bottom of the top plate is provided with a side plate having an upper chute, the upper bracket having a first lug, the first lug being connected to the upper chute by a pin.
5. The driving device for an unmanned carrier according to claim 4, wherein a slider is provided at an end of the lower bracket, and a lower chute is provided on an upper surface of the motor housing to be engaged with the slider.
6. The driving device for an automated guided vehicle according to claim 5, wherein the lower chute is positioned on a same line as the mounting hole.
7. The driving device for an automated guided vehicle according to claim 6, wherein one of the upper chute and the lower chute extends obliquely upward, and the other of the upper chute and the lower chute extends horizontally.
8. The drive device for an unmanned carrier according to any one of claims 3 to 7, wherein the pre-pressing unit further comprises: the lower support is provided with a second lug, one end of the connecting rod is connected with the second lug through a pin shaft, and the other end of the connecting rod is connected with the support column.
9. The drive device for an automated guided vehicle according to claim 8, wherein the link includes:
the lower end of the lower section connecting rod is connected with the second lug, and the lower section connecting rod extends upwards along the horizontal direction;
the upper section connecting rod is connected with the upper end of the lower section connecting rod, and extends upwards along the vertical direction.
10. The driving device for an automated guided vehicle according to claim 9, wherein the pre-pressing unit further comprises: the mounting bracket, the mounting bracket cover is located the support column, the mounting bracket has the open slot, the upper segment connecting rod is pressed from both sides through the round pin axle and is located in the open slot.
11. The driving device for an automated guided vehicle according to claim 10, wherein the number of pre-pressing units is two, the two pre-pressing units are diagonally disposed in a space defined by the top plate and the motor base, and the movement directions of the two pre-pressing units are opposite.
12. An unmanned truck comprising a drive for a truck according to any one of claims 1 to 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710466181.0A CN107696817B (en) | 2017-06-19 | 2017-06-19 | Driving device for unmanned carrier and unmanned carrier with driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710466181.0A CN107696817B (en) | 2017-06-19 | 2017-06-19 | Driving device for unmanned carrier and unmanned carrier with driving device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107696817A CN107696817A (en) | 2018-02-16 |
| CN107696817B true CN107696817B (en) | 2024-02-06 |
Family
ID=61170189
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710466181.0A Active CN107696817B (en) | 2017-06-19 | 2017-06-19 | Driving device for unmanned carrier and unmanned carrier with driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107696817B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108928199B (en) * | 2018-07-20 | 2021-10-01 | 太原科技大学 | Anti-toppling and posture adjusting device of kangaroo leg-imitating double-diamond suspension |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673676A (en) * | 2012-04-13 | 2012-09-19 | 机科发展科技股份有限公司 | AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot |
| CN202657141U (en) * | 2012-07-02 | 2013-01-09 | 深圳市佳顺伟业科技有限公司 | Lifting device of automatic guided vehicle |
| CN102910203A (en) * | 2012-10-29 | 2013-02-06 | 南京航空航天大学 | Wheel-type differential driving-steering device with changeable mounting height |
| CN203832182U (en) * | 2014-04-24 | 2014-09-17 | 歌尔声学股份有限公司 | Independent suspension system for automatic guided vehicle |
| JP2014237359A (en) * | 2013-06-07 | 2014-12-18 | 濱口 栄男 | Unmanned carrier |
| CN204110203U (en) * | 2014-08-19 | 2015-01-21 | 浙江国自机器人技术有限公司 | A kind of heavily loaded automatic guided vehicle of improvement |
| CN204845427U (en) * | 2015-07-28 | 2015-12-09 | 广州市井源机电设备有限公司 | A ground self -adaptation mechanism for AGV actuating mechanism |
| CN105774457A (en) * | 2015-11-04 | 2016-07-20 | 上海电器科学研究所（集团）有限公司 | Lifting terrain-adaptive AGV trolley chassis |
| CN106143037A (en) * | 2016-08-09 | 2016-11-23 | 浙江科钛机器人股份有限公司 | Multistage Omni-mobile suspension fork mechanism and Omni-mobile platform |
| CN106627838A (en) * | 2015-10-29 | 2017-05-10 | 金宝电子工业股份有限公司 | Automatic guiding vehicle |
| CN106741299A (en) * | 2016-12-21 | 2017-05-31 | 深圳若步智能科技有限公司 | A kind of merchandising machine people's body structure based on Mecanum wheel |
| CN207311020U (en) * | 2017-06-19 | 2018-05-04 | 广东美的智能机器人有限公司 | For automatic guided vehicle driving device and there is its automatic guided vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10835948B2 (en) * | 2014-07-09 | 2020-11-17 | The Boeing Company | Adjustable retaining structure for a cradle fixture |
-
2017
- 2017-06-19 CN CN201710466181.0A patent/CN107696817B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673676A (en) * | 2012-04-13 | 2012-09-19 | 机科发展科技股份有限公司 | AGV (Automatic Guided Vehicle) for multiple-wheel train heavy load mobile robot |
| CN202657141U (en) * | 2012-07-02 | 2013-01-09 | 深圳市佳顺伟业科技有限公司 | Lifting device of automatic guided vehicle |
| CN102910203A (en) * | 2012-10-29 | 2013-02-06 | 南京航空航天大学 | Wheel-type differential driving-steering device with changeable mounting height |
| JP2014237359A (en) * | 2013-06-07 | 2014-12-18 | 濱口 栄男 | Unmanned carrier |
| CN203832182U (en) * | 2014-04-24 | 2014-09-17 | 歌尔声学股份有限公司 | Independent suspension system for automatic guided vehicle |
| CN204110203U (en) * | 2014-08-19 | 2015-01-21 | 浙江国自机器人技术有限公司 | A kind of heavily loaded automatic guided vehicle of improvement |
| CN204845427U (en) * | 2015-07-28 | 2015-12-09 | 广州市井源机电设备有限公司 | A ground self -adaptation mechanism for AGV actuating mechanism |
| CN106627838A (en) * | 2015-10-29 | 2017-05-10 | 金宝电子工业股份有限公司 | Automatic guiding vehicle |
| CN105774457A (en) * | 2015-11-04 | 2016-07-20 | 上海电器科学研究所（集团）有限公司 | Lifting terrain-adaptive AGV trolley chassis |
| CN106143037A (en) * | 2016-08-09 | 2016-11-23 | 浙江科钛机器人股份有限公司 | Multistage Omni-mobile suspension fork mechanism and Omni-mobile platform |
| CN106741299A (en) * | 2016-12-21 | 2017-05-31 | 深圳若步智能科技有限公司 | A kind of merchandising machine people's body structure based on Mecanum wheel |
| CN207311020U (en) * | 2017-06-19 | 2018-05-04 | 广东美的智能机器人有限公司 | For automatic guided vehicle driving device and there is its automatic guided vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107696817A (en) | 2018-02-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20150314734A1 (en) | UTILITY LIFT HAULER CONFIGURED TO TRANSPORT MOTORCYCLES, ATVs AND THE LIKE | |
| WO2020221211A1 (en) | Handling vehicle and chassis assembly thereof | |
| US8696295B2 (en) | Utility lift hauler configured to transport motorcycles, ATVs and the like | |
| CN210212568U (en) | Robot chassis, robot chassis suspension device and universal wheel suspension mechanism | |
| CN107696817B (en) | Driving device for unmanned carrier and unmanned carrier with driving device | |
| CN208233212U (en) | Ultra low type AGV vehicle | |
| CN210591264U (en) | Mecanum wheel suspension mechanism and AGV trolley with same | |
| WO2021071170A3 (en) | Portable patient-weighing apparatus | |
| CN206690820U (en) | AGV dolly dampings | |
| CN115320475B (en) | Industrial delivery robot with shock absorption buffering and obstacle crossing functions | |
| CN214984615U (en) | Shock-absorbing caster | |
| KR100921131B1 (en) | Apparatus for pressing of scrapped car using inertial roller | |
| CN211075683U (en) | Liftable trailer | |
| CN208360063U (en) | A kind of pedal angle regulating device of industrial vehicle | |
| CN210084842U (en) | Rear auxiliary frame spiral spring jacking equipment | |
| CN207311020U (en) | For automatic guided vehicle driving device and there is its automatic guided vehicle | |
| CN111572279B (en) | Axle lifting device | |
| CN211995062U (en) | Pressure regulating device | |
| US4491201A (en) | Trolley | |
| CN108382491B (en) | Bottom plate subassembly and robot | |
| CN212193119U (en) | Automobile parts storage rack | |
| CN208603656U (en) | A kind of pedal traction mechanism of industrial vehicle | |
| CN213413795U (en) | Wheel set frame lifting driving equipment | |
| CN211393741U (en) | Pedal damping device | |
| CN220870530U (en) | Display device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220629 Address after: 528311 area a, 2nd floor, building B1, 3 Liaoshen Road, Beijiao Town, Shunde District, Foshan City, Guangdong Province Applicant after: KUKA ROBOT (GUANGDONG) Co.,Ltd. Address before: 528311 Global Innovation Center of Penglai Road Industrial Avenue Mei, Beijiao Town, Shunde District, Foshan City, Guangdong Province Applicant before: GUANGDONG MIDEA INTELLIGENT ROBOT Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |